80 lines
2.7 KiB
C#
80 lines
2.7 KiB
C#
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using NamedPipes;
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using NrxDebugVisualizer.Scenes;
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using Num.Roto.Visualization.Math.Geometry;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Numerics;
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using System.Threading;
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using KontractFrame = System.ValueTuple<System.Numerics.Vector3, System.Numerics.Quaternion, float>;
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namespace NrxDebugVisualizer.Models;
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internal sealed class PipeServer
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{
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private string PipeName { get; }
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private NamedPipesServer? NamedPipesServer { get; set; }
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public PipeServer(string pipeName, DebugVisualizerScene debuggerScene,CancellationToken cancellationToken)
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{
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PipeName = pipeName;
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DebugVisualizerScene = debuggerScene;
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StartPipeServer(cancellationToken);
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}
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private void NamedPipesServer_PropertyChanged(object? sender, System.ComponentModel.PropertyChangedEventArgs e)
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{
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if (e.PropertyName != nameof(NamedPipesServer.VisualizerModel)) return;
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var visualizerObject = NamedPipesServer?.VisualizerModel;
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if (visualizerObject is null) return;
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SetPoint(visualizerObject.Point);
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SetPointList(visualizerObject.PointArray);
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SetFrame(visualizerObject.Frame);
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SetFrameList(visualizerObject.FrameArray);
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}
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#region NamedPipesServer
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private async void StartPipeServer(CancellationToken cancellationToken)
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{
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NamedPipesServer = new NamedPipesServer(PipeName, logger: Console.WriteLine);
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NamedPipesServer.PropertyChanged += NamedPipesServer_PropertyChanged;
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await NamedPipesServer.RunAsync(cancellationToken);
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}
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#endregion
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#region DebugVisualizerScene
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private DebugVisualizerScene DebugVisualizerScene { get; }
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private static Frame ToFrame(KontractFrame kontractFrame)
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{
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var (translation, orientation, scale) = kontractFrame;
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return new Frame(translation, scale, orientation);
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}
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private static Frame[] ToFrameArray(IEnumerable<KontractFrame> frameList)
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{
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return [.. frameList.Select(ToFrame)];
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}
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private void SetPoint(Vector3? point)
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{
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if (point is null) return;
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DebugVisualizerScene.AddPointGeometry(point.Value, 20f);
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}
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private void SetPointList(Vector3[]? pointList)
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{
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if (pointList == null || pointList.Length < 1) return;
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DebugVisualizerScene.AddPointListGeometry(pointList, 5);
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}
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private void SetFrame(KontractFrame? kontractFrame)
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{
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if (kontractFrame is null) return;
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DebugVisualizerScene.AddFrameGeometry(ToFrame(kontractFrame.Value), 1);
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}
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private void SetFrameList(KontractFrame[]? frameArray)
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{
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if (frameArray == null || frameArray.Length < 1) return;
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DebugVisualizerScene.AddFrameListGeometry(ToFrameArray(frameArray), 1);
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}
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#endregion
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}
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